Monolithically Integrated Micro Flapping Vehicles
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1 UNCLASSIFIED U.S. Army Research, Development and Engineering Command Monolithically Integrated Micro Flapping Vehicles Jeffrey S. Pulskamp, Ronald G. Polcawich, Gabriel L. Smith, Christopher M. Kroninger UNCLASSIFIED
2 Report Documentation Page Form Approved OMB No Public reporting burden for the collection of information is estimated to average 1 hour per response, including the time for reviewing instructions, searching existing data sources, gathering and maintaining the data needed, and completing and reviewing the collection of information. Send comments regarding this burden estimate or any other aspect of this collection of information, including suggestions for reducing this burden, to Washington Headquarters Services, Directorate for Information Operations and Reports, 1215 Jefferson Davis Highway, Suite 1204, Arlington VA Respondents should be aware that notwithstanding any other provision of law, no person shall be subject to a penalty for failing to comply with a collection of information if it does not display a currently valid OMB control number. 1. REPORT DATE AUG REPORT TYPE 3. DATES COVERED to TITLE AND SUBTITLE Monolithically Integrated Micro Flapping Vehicles 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) 5d. PROJECT NUMBER 5e. TASK NUMBER 5f. WORK UNIT NUMBER 7. PERFORMING ORGANIZATION NAME(S) AND ADDRESS(ES) U.S. Army Research Laboratory,2800 Powder Mill Road,Adelphi,MD, PERFORMING ORGANIZATION REPORT NUMBER 9. SPONSORING/MONITORING AGENCY NAME(S) AND ADDRESS(ES) 10. SPONSOR/MONITOR S ACRONYM(S) 12. DISTRIBUTION/AVAILABILITY STATEMENT Approved for public release; distribution unlimited 11. SPONSOR/MONITOR S REPORT NUMBER(S) 13. SUPPLEMENTARY NOTES Presented at the 2nd Multifunctional Materials for Defense Workshop in conjunction with the 2012 Annual Grantees /Contractors Meeting for AFOSR Program on Mechanics of Multifunctional Materials & Microsystems Held 30 July - 3 August 2012 in Arlington, VA. Sponsored by AFRL, AFOSR, ARO, NRL, ONR, and ARL. 14. ABSTRACT 15. SUBJECT TERMS 16. SECURITY CLASSIFICATION OF: 17. LIMITATION OF ABSTRACT a. REPORT unclassified b. ABSTRACT unclassified c. THIS PAGE unclassified Same as Report (SAR) 18. NUMBER OF PAGES 25 19a. NAME OF RESPONSIBLE PERSON Standard Form 298 (Rev. 8-98) Prescribed by ANSI Std Z39-18
3 Millimeter-scale Robotics Technology Objective Develop and demonstrate technologies to provide the Army a low-cost, low observable, mobile sensor platform Benefits Extreme scale, MEMS enabled platforms can provide unprecedented lowobservability & accessibility & integrated multifunctionality at low unit cost Technical Barriers Biological mobility with nontrivial load bearing Scale-limited power & energy Simplest systems still require high degree of integration complexity Conceptual illustrations of highly integrated mm-scale low-cost, low observable, mobile sensor platforms for empowering and unburdening the soldier Approach Develop high performance PZT MEMS actuation and biological-like mechanisms Leverage thin film batteries and collaboratively develop integrated power solutions Exploit MEMS, microelectronics, and the limited application of standard packaging Holistic design of system, component, device levels UNCLASSIFIED 2
4 Objective: Provide the Army a low-cost, low observable, mobile sensor platform Subsystems with PiezoMEMS integration potential: Mobility: Sensing: Proprioceptive Payload Communications: RF MEMS : Transformers Harvesting Control: Mechanical Logic Memory ARL Millimeter-scale Robotics Research Collaborations with UCSB, IMT, ARL SEDD, ARL- VTD, ARL-WMRD, UMich, & Penn St.
5 Objective: Provide the Army a low-cost, low observable, mobile sensor platform Subsystems with PiezoMEMS integration potential: Mobility: Sensing: Proprioceptive Payload Communications: RF MEMS : Transformers Harvesting Control: Mechanical Logic Memory ARL Millimeter-scale Robotics Research Mm-Scale Flapping MEMS Pumpjet Collaborations with UCSB, IMT, ARL SEDD, ARL- VTD, ARL-WMRD, UMich, & Penn St.
6 ARL Millimeter-scale Robotics Research Collaborations with UCSB, IMT, ARL SEDD, ARL- VTD, ARL-WMRD, UMich, & Penn St. Objective: Provide the Army a low-cost, low observable, mobile sensor platform Subsystems with PiezoMEMS integration potential: Mobility: Sensing: Proprioceptive Payload Communications: RF MEMS : Transformers Harvesting Control: Mechanical Logic Memory Mm-Scale Flapping MEMS Pumpjet Mm-Scale Ground Mobility Platform Reversible Adhesion Actuation & Mechanisms Ultrasonic Motors
7 ARL Millimeter-scale Robotics Research Collaborations with UCSB, IMT, ARL SEDD, ARL- VTD, ARL-WMRD, UMich, & Penn St. Objective: Provide the Army a low-cost, low observable, mobile sensor platform Subsystems with PiezoMEMS integration potential: Mobility: Sensing: Proprioceptive Payload Communications: RF MEMS : Transformers Harvesting Control: Mechanical Logic Memory Mm-Scale Flapping MEMS Pumpjet Proprioceptive Sensing PiezoMEMS Haltere Leveraged Research MEMS logic Integrated RF MEMS Mm-Scale Ground Mobility Platform Reversible Adhesion Actuation & Mechanisms Ultrasonic Motors
8 PiezoMEMS Flapping Micro-flight Internal ARL multi-directorate research Goals: Collaborations with Chris Kroninger (VTD), Dr. Eric Wetzel (WMRD) Initial (DRI): Feasibility assessment & demonstration Produce lift and flight characteristics similar to those of insects in the same size class Current (Mission): Develop enabling technologies : 2 dof actuation Thin film wings reinforced with stiff venation Accomplishments: Stroke Actuator ~120º stroke amplitudes at 10V drive (resonant) ~45º pitch amplitudes at 25V drive (quasi-static) frequencies similar to fruit fly ( Hz) ARL Proof of concept Test Structures 2mm 2mm Pitch Actuator Two degree of freedom actuation Nonlinear loaded piezo actuation FEA
9 Example Results
10 Example Results
11 Feasibility Analysis Key System-level Questions: Load Bearing Framing the Mobility Problem
12 Feasibility Analysis Key System-level Questions: Load Bearing Framing the Mobility Problem Thin Film Battery Performance per leg Energy Limb Other models Speed, Endurance, etc. Wing
13 Feasibility Analysis Key System-level Questions: Load Bearing Framing the Mobility Problem Numbers based on demonstrated Thin Film Battery Technology per leg Energy Limb Other models Speed, Endurance, etc. Wing ~10 to 1000 mw available at millimeter-scale
14 Feasibility Analysis Key System-level Questions: Load Bearing Framing the Mobility Problem per leg Energy Limb Other models Speed, Endurance, etc. Wing ~10 to 1000 mg likely at millimeter-scale
15 Feasibility Analysis Key System-level Questions: Load Bearing Framing the Mobility Problem per leg Energy Limb Other models Speed, Endurance, etc. Wing Platform mass to be dominated by mass for power
16 Feasibility Analysis Key System-level Questions: Load Bearing Framing the Mobility Problem Low mg s to ~30mg Feasible system mass per leg Energy Limb Other models Speed, Endurance, etc. Wing <1mW Mechanical Required Approximate Range for our work
17 Feasibility Analysis Key System-level Questions: Load Bearing Framing the Mobility Problem per leg Energy Limb Other models Speed, Endurance, etc. Wing Low mw s to ~30mW available battery power can be supported by expected flight forces
18 Feasibility Analysis Key System-level Questions: Load Bearing Framing the Mobility Problem per leg Energy Limb Other models Speed, Endurance, etc. Wing < 20% of available battery power required to fly Approximate Range for our work
19 Feasibility Analysis Key System-level Questions: Load Bearing Framing the Mobility Problem supported per leg range from ~mg to ~600mg per leg Energy Limb Other models Speed, Endurance, etc. Wing 100 s mw to >Ws feasible to support with ground mobile systems
20 Feasibility Analysis Key System-level Questions: Load Bearing Framing the Mobility Problem Cannot supply payload power Endurance of ~hour feasible per leg Energy Limb Other models Speed, Endurance, etc. Wing
21 Feasibility Analysis Key System-level Questions: Load Bearing Framing the Mobility Problem per leg Limb Energy Other models Wing 1-2 kms in 10 minutes feasible Speed, Endurance, etc. Cannot supply payload power
22 Feasibility Analysis Enables analytical & numerical model based within system context Insect Load Bearing FEA per leg Limb Energy Other models Wing Rotational Actuator - FEA Speed, Endurance, etc.
23 Feasibility Analysis - SUMMARY per leg Limb Energy Other models Speed, Endurance, etc. Wing At mm-scale: Batteries alone: ~10 to 1000 mw available ~10 to 1000 mg Platform dominated by power mass : <30mg system mass <30mW available battery power can be supported by flight forces < 20% of available power required to fly Several hours endurance feasible 1-2 kms in 10 minutes feasible Ground: /leg range from ~mg to ~600mg 100 s mw to >Ws feasible to support with ground mobile systems
24 Daedelus Systems & UMD State of the Art Research Harvard 10 s g (10 s cm-scale) 100 s mg (cm-scale) ARL 10 s mg (mm-scale)
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